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Optimal path planning for the motion of a wheel

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2 Author(s)
Cameron, J.M. ; George W. Woodruff Sch. of Mech. Eng., Georgia Inst. of Technol., Atlanta, GA, USA ; Book, W.J.

In this paper, the authors examine optimal path planning for the motion of a wheel which minimizes some combination of time and effort expended. Several techniques are examined but a combination of continuation and multi-dimensional Newton-Raphson shooting is shown to be effective, within limits

Published in:

Robotics and Automation, 1994. Proceedings., 1994 IEEE International Conference on

Date of Conference:

8-13 May 1994